Release Notes for MPiec controller firmware

Yaskawa America, Inc.

Release 3.0.3 build 17

February 27, 2015.

1. New Features

Number Summary Release Notes

n/a Support for MP3300iec controller This is the first release version which officially supports the new controller model.

1482 Support network variables Application data across multiple MPiec controllers can be shared in a Produce /
Consume fashion. Network variables are defined in a network variable worksheet
that is a new node underneath "Physical Hardware" in the Multiprog project tree. A
new firmware library NVTCPUDP is also available with this feature. This is the
initial release for network variables; multiple projects are required (one for each
MPiec controller.) Future releases will support multiple controllers (Resources) per
project and further simplify use.

5036 Support PLCopen Part 4 -
Interpolation specification
This is the initial release for PLCopen part 4. The following function blocks are
available:
MC_GroupEnable,
MC_GroupDisable,
MC_GroupReadError,
MC_ReadGroupStatus,
MC_GroupReset,
MC_GroupStop,
MC_MoveCircularAbsolute,
MC_MoveCircularRelative,
MC_MoveLinearAbsolute,
MC_MoveLinearRelative,
Y_GroupDirectControl

6028 Logic Analyzer enhancements New logic analyzer features require firmware 3.0.3 and MotionWorks IEC v3.0.3.
Features include: Continuous trace logging, new choices for X sample units, strip
chart mode (all channels superimposed over each other using full height of
window.) and multiple trigger configurations can be saved.

6922 MP3200 processes data using

big-endian format

7315 Modbus memory moved to the MP3000iec controllers now support bi-directional Modbus holding register data
%M area to allow read and write transfer. MotionWorks IEC v3.0.3 is required. The register area has also been
to registers. (MP3000 series increased from (1024 * 2) to 10000.
only)

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Number Summary
8039 MP3000iec series: Support
endian conversion for arrays of
structures and structures with
arrays
8474 Support multiple IP addresses
per network interface.
8681 MP3000iec controllers do not
report Mechatrolink Alarm 2301
0008 as a controller alarm.
8782 Firmware support for Axis
Simulation mode
RN.MPiec.07
Release Notes
Endian conversion support added for the following:
1) Converting structures containing arrays
2) Converting structures containing structures, including structures
containing arrays of basic types
3) Convert arrays of structures, including structures with arrays of basic
types and other structures
4) Converting arrays of structures containing arrays of structures
Use the TO_LITTLE_ENDIAN function when transferring data between an
MP3000iec series controller and other devices such as PC application programs
when the endianess differs.
Two function blocks were added to the Y_DeviceComm firmware library to support
configuration of multiple IP address on a single Network Interface:
Y_AddIPAddress and Y_RemoveIPAddress. This feature is also referred to as
"Multi Homing".
When Mechatrolink III axes are configured but absent, the MP2000iec reported
alarm 23010008.
On MP3000iec series controllers with Mechatrolink III, the missing axis alarm is
now attached to the axis rather than the controller as a whole. Y_ReadAlarms and
Y_ClearAlarms only interact with controller based alarms that are non axis specific.
On a Mechatrolink III controller, neither function block is aware of the alarms, and
do not report or clear this particular alarm. Use MC_ReadAxisError and
MC_Reset.
A right click menu option has been added in the Hardware Configuration which
allows toggling a Mechatrolink axis between physical and simulation mode.
Servo, VFD and Stepper axes can be switched to Simulated Mode. While in
Simulation mode, the drive parameters are retained in the Configuration. The
behavior is similar to a virtual axis.
April 15, 2015.
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2. Bug Fixes
The following issues were identified and fixed for this release.

Number Summary Details and workarounds prior to this version

7031 MC_Stop.Deceleration not being
applied if MC_SuperImposed is
executed without an underlying
motion block
The deceleration value for MC_Stop was not used to decelerate the axis to a
standstill if MC_MoveSuperimposed was in control of motion on its own
(without an underlying motion block.) The two cases were:
1) MC_MoveSuperImposed without MC_MoveVelocity as a previous motion
block. MC_Stop.Deceleration did not work.
2) MC_MoveSuperImposed with MC_MoveVelocity (0 velocity) as a previous
motion block. MC_Stop.Deceleration works, however commanded velocity
profile was incorrect.

7557 MP2600iec: Forcing Modbus bits This issue, which existed on the MP2600iec only, has been corrected.
in Function code 4 causes
watchdog

7915 ServpPack outputs controlled via ServoPack outputs controlled by the MP2300Siec and MP2310iec were turned off
MPiec turn off during SVON during the SVON Mechatrolink command, which typically lasted for 42ms, then
command they resumed their previous state.

8025 MC_StepLimitSwitch holds Error PLCopen specification requires the Error output remain high for as long as the
output on for 3 scans Execute input is high, or if the Execute input has already gone low before the
completion of the function, the resulting function block output must be pulsed for
one scan only.

8156 MPiec Ethernet/IP scanner did When an adapter was configured for a size greater than 496 up to 500 bytes, the
not support 500 byte instances incoming packet was not accepted by the MPiec scanner and resulted in a
"Forward Close" command after the time out elapsed.

8210 Axis Jumps after MC_SetPosition This issue only existed for function block input Relative Mode, and has been fixed.
with Mode=Relative

8266 MC_Stop yields unexpected A discontinuous motion profile (a step change in position) would result when
motion MC_Stop was used with axes with S curve set. The level of the step change was
dependant on the value of ServoPack Pn80E.

8746 Multiple MC_Stop function blocks
for the same axis can cause
failure to stop
New behavior accommodates multiple MC_Stop blocks without interaction issues:
1) Any instance of MC_Stop.Execute.TRUE will cause motion to stop and
inhibit future motion until all instances of MC_Stop.Execute.FALSE for
the given axis.
2) If an instance of MC_Stop is called conditionally with Execute = TRUE,
(such as in ST or SFC) the same instance must be called with Execute =
FALSE to remove the stop-state.
3) A PLC stop/start will clear all the associated internal stop-states since all
function blocks are reset.

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3. Known Issues
Number Summary
4395 Large positions will not be
displayed to full precision in
the Web Server Java applet
or the Hardware
Configuration.
4641 Booting up in supervisor
mode shows extra menu
options
5227 XML Config files are cached
via web server
5241 ProConOS communication
task can use all available
CPU with large OPC transfers
5264 MODBUS server outputs are
not retained on MP2300Siec
and MP2310iec
5373 Controller hangs at startup
with two Sigma II drives at the
same physical node address
5521 CPU utilization is not
accurate for MP2600iec when
the IEC task and motion
engine cycle are the same.
5686 MPiec Modbus server seems
to stop communicating
5697 Slave cannot synchronize to
a master with S curve applied
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Release Notes
Positions greater than 2147483648.0
are written in scientific notation and will
lose some precision when displayed in
the applet or the Hardware
Configuration. The position stored in
the controller is not affected.
When controller is started in supervisor
mode, the web menu shows all of the
supervisor options immediately. Some
options will require login before they
can be used.
Deleting a project archive and
uploading a new project appears to
show user/config/startup/io.xml not
updated to the new version. Actually it
is updated, however the web browser
has cached the old version.
With large OPC transfers, the
ProConOS communication task can
starve lower priority tasks, making
communication with MotionWorks IEC
difficult. We have also noticed a 32KB
limitation on OPC transfers.
In MotionWorks IEC, the Global
Variables table contains a column
labeled “Retain”. Selecting a check
box within this column causes the
corresponding variable to be allocated
in SRAM, however, for outputs (%Q),
this feature is not working.
The ERR and MTX light will come on.
This problem does not occur with
Sigma V drives.
The CPU utilization always reports
0.1% when an IEC task runs at the
same rate as the motion engine. To
get more accurate utilization data, the
scheduler must run more often than
the user task and the user task must
continue to execute over multiple
scheduler cycles.
A modbus master can overload the
controller and break Modbus/TCP
communication if polling for data too
often.
Cam and Gear applications will not
follow another servo axis that has the
S curve filter enabled.
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Workaround
If possible, change the origin
using MC_SetPosition or
MC_StepRefPulse or change the
position scale so that the full
position can be seen.
Login with the Admin password in
supervisor mode.
Disable caching of XML config
files in Internet Explorer.
Use smaller buffers and slower
update rates.
Please see this application note
AN.MPIEC.12 on
www.yaskawa.com Keyword
search: ‘retain’
Ensure each Sigma II drive has a
unique physical node address.
The individual task statistics
MinDuration_us, CurDuration_us,
MaxDuration_us stored in
PLC_TASK_1 (etc.) are reported
in microseconds, which is more
useful for determining watchdog
timers for tasks running at the
same rate as the motion kernel.
Adding a 5 ms timer between
Read / Write queries avoids the
issue.
Do not use an S-Curve filter on
any master axis unless the slave
has an identical S-Curve filter.
April 15, 2015.
 Number Summary
5724 PLC will enter the RUN state
after a test move finishes in
the Hardware Configuration
5915 Trying to enable the same
axis with two MC_Power
blocks at the same time
results in internal motion
kernel error.
5948 CPU overload can occur on
an MP2600iec under
moderate load if I/O drivers
are assigned to the Default
task
5965 If the SGDV is configured to
use the Brake output on SO1,
then none of SO1, SO2 or
SO3 can be controlled over
Mechatrolink.
6343 EIP Multicast only works
correctly on Port A (CN11A of
the MP2600iec.
6473 Repeated archiving
operations eventually breaks
archiving
6481 Different deceleration is used
for MC_TorqueControl than
for MC_Move... when a
software limit has been
exceeded.
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Release Notes Workaround
When attempting to start a program Do not RUN the PLC when the
using the Project Control dialog while Hardware Configuration is
running a test move through the performing a test move.
Hardware Configuration, the controller
correctly prevents the PLC from
entering the RUN state. In this case
the resource dialog still shows the PLC
in the RUN state as the request to
enter RUN mode is pending. When
the move finishes the PLC will enter
the "RUN" state.
Trying to enable the same axis with Do not enable multiple
two MC_Power blocks at the same MC_Power blocks on the same
time results in internal motion kernel axis at the same time.
error.
A CPU overload can occur instead a Make sure no I/O drivers are
watchdog if the Mechatrolink (dual port assigned to the Default task.
memory update) is set to 1 mSec and Other options: Change the high
an application task is configured with a speed task to 3ms, change the
2 ms interval, and I/O drivers assigned motion update to 2ms, or change
to the default task. the lower priority tasks to a longer
period.
SGDV firmware was changed No workaround exists.
Multicast Etherent I/P data will only be Use Port A (CN-11A) for Ethernet
broadcast over Port A (CN-11A). I/P communication.
Consequently, Port B (CN-11B) should
not be used for Ethernet I/P
communication.
Typically, the controller is rebooted Reboot the controller.
immediately after sending the project
archive, but if an archive project is sent
to the controller more than 20 times in
a row, then the controller starts failing
semi-silently. There is no alarm or
warning, but the Debugging Output
starts to print the following error:
[2011-07-07 15:39:39.210] error
invoking web post request.
FilteredZip Could not open
specified archive
If the axis does not decelerate
quickly enough after exceeding a
soft limit with MC_TorqueControl,
then modify parameters Pn80D,
Pn80E, Pn80F and Pn827.
April 15, 2015.
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 Number Summary
6712 MP3200iec CPU architecture
is not reporting maximal floats
as NAN or INF
7017 218IF-Y1 communication
card is not supported on the
MP3200iec
7069 Applet cant connect to
Machine Operations page
(Cache settings issue)
7081 MIN, MAX and LIMIT with 64
bit data types when using
EN/ENO are not supported
on MP2600iec and
MP3200iec
7448 MC_ReadParameter.Valid
flickers multiple times when
the web server’s Machine
Operations page >
AxisParameters tab is
selected
7505 Attach PLC and other tasks to
a secondary interrupt to ride
through Mechatrolink Reset
(Y_ResetMechatrolink)
7574 MPiec as a Ethernet/IP slave
disconnects from AB
ControlLogix Master
7576 After Mechatrolink-III
communication errors, the
MTD2310 remote I/O module
does not reconnect
7606 MC_GroupEnable / Disable
should not be used
concurrently with
Y_ResetMechatrolink
RN.MPiec.07
Release Notes Workaround
On the MP3200iec, the hardware User applications should check
floating point unit does not support for overflow conditions.
IEEE 754. This means adding two
floating points numbers that would
normally cause an INF or NAN, will
instead result in a maxFloat result.
Example: 1.5e38 + 3.0e38 gives
3.4028235e38. In addition, in
EN/ENO is enabled, ENO will remain
"1" instead of normally becoming "0"
when an overflow is detected.
Planned for future release.
Under certain circumstances, the See FAQ MTN-97PQWW on
Webservers machine Operations page www.yaskawa.com for details on
will not work. See FAQ MTN- disabling the cache.
97PQWW for details on disabling the
cache.
Create custom functions in ST or
use functions from the Yaskawa
and Math Toolboxes.
When MC_ReadParameter FB is set Only read the parameter value
to read Prm 1311 and the user when the Valid output is on.
navigates to the web server and opens
the AxisParams tab in the machine
operations page, the various
parameters are displayed, however at
this point, MC_ReadParameters.Valid
flickers multiple times. The FB
behaves correctly because it says that
the value is invalid when the wrong
value is displayed.
The Mechatrolink interrupt is the main There is no workaround; this is
driver for all lower priority tasks in the scheduled to be fixed in future
MPiec controller. The application and releases.
communication tasks and I/O drivers
stop executing during the time when
the Mechatrolink network is resetting.
The connection status is unstable Allen Bradley 1756-ENBT
when using older firmware in the communication module requires
Allen Bradley ControlLogix fw 6.006 or higher.
Upon removing (and reconnecting) the To clear this state, the MTD2310
Mechatrolink-III network connection, must be powered cycled.
the MTD2310 remote I/O module
shows a flashing red 'F'. Once in this
state, the controller cannot read inputs
or set outputs.
Use interlocks to prevent these
function blocks from running at
the same time.
April 15, 2015.
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 Number Summary Release Notes Workaround
7609 Applet cant connect to Check www.yaskawa.com for
Machine Operations page FAQ MTN-97PQWW for
(Cache settings issue) information on solving this issue.

8476 RAM available for There is less memory available from

applications on MP2300S firmware version 2.6 and up due to
firmware 2.6.0.152 and later enhanced controller functions.
is decreased.

8751 INIT switch on 218IF-Y1 card The card cannot be set to the default
does not work IP address 192.168.1.1

8764 MC_MoveCircular functions New input AuxPoint2 will be Use two function blocks with
cannot perform a motion of implemented in future version. smaller circle portions to complete
exactly one revolution a full circle.

8881 MC_MoveLinearAbsolute / MC_CoordinateSystem: MCS and

Relative results in ErrorID PCS are not supported.
61713 if MCS coordinate
system is specified.

4. Limitations
Unsupported Card Modules
JAPMC-PL2300-E Counter Module
JAPMC-PL2310-E Pulse Output Module

Unsupported Mechatrolink Devices

SGDH & NS115 with Linear Motor
JEPMC-PL2900 Counter Device
JEPMC-PL2910 Pulse Output Device

MP3200iec and MP3300iec do not support the 218IF-Y1 [JAPMC-CM2301-E] card.

RN.MPiec.07 April 15, 2015.

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